mirror of
https://bitbucket.org/librepilot/librepilot.git
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e5c795e42b
Rationale: (http://forums.openpilot.org/topic/800-rev-761-mkserial-adapt-to-com-usartx-pios-com-x/page__view__findpost__p__2203_) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@836 ebee16cc-31ac-478f-84a7-5cbb03baadba
451 lines
12 KiB
C
451 lines
12 KiB
C
/**
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******************************************************************************
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the OpenPilot board.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#include <pios_spi_priv.h>
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#include <pios_usart_priv.h>
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#include <pios_com_priv.h>
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/* MicroSD Interface
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*
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* NOTE: Leave this declared as const static data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_sdcard_irq_handler(void);
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const struct pios_spi_cfg pios_spi_sdcard_cfg = {
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.regs = SPI1,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
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},
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.handler = PIOS_SPI_sdcard_irq_handler,
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.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel2,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel3,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.ssel = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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},
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.sclk = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.miso = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.mosi = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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/* AHRS Interface
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*
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* NOTE: Leave this declared as const static data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_ahrs_irq_handler(void);
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const struct pios_spi_cfg pios_spi_ahrs_cfg = {
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.regs = SPI2,
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.init = {
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 7,
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.SPI_CPOL = SPI_CPOL_High,
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.SPI_CPHA = SPI_CPHA_2Edge,
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.SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
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},
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.handler = PIOS_SPI_ahrs_irq_handler,
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.flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel4,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel5,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.ssel = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_12,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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},
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.sclk = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.miso = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_14,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.mosi = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_15,
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.GPIO_Speed = GPIO_Speed_50MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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/*
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* Board specific number of devices.
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*/
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struct pios_spi_dev pios_spi_devs[] = {
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{
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.cfg = &pios_spi_sdcard_cfg,
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},
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{
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.cfg = &pios_spi_ahrs_cfg,
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},
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};
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uint8_t pios_spi_num_devices = NELEMENTS(pios_spi_devs);
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void PIOS_SPI_sdcard_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_SPI_IRQ_Handler(PIOS_SDCARD_SPI);
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}
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void PIOS_SPI_ahrs_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_SPI_IRQ_Handler(PIOS_OPAHRS_SPI);
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}
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/*
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* Telemetry USART
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*/
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void PIOS_USART_telem_irq_handler(void);
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void USART2_IRQHandler() __attribute__ ((alias ("PIOS_USART_telem_irq_handler")));
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const struct pios_usart_cfg pios_usart_telem_cfg = {
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.regs = USART2,
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.init = {
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.handler = PIOS_USART_telem_irq_handler,
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.init = {
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.NVIC_IRQChannel = USART2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_2,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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/*
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* GPS USART
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*/
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void PIOS_USART_gps_irq_handler(void);
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void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_gps_irq_handler")));
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const struct pios_usart_cfg pios_usart_gps_cfg = {
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.regs = USART3,
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.remap = GPIO_PartialRemap_USART3,
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.init = {
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.handler = PIOS_USART_gps_irq_handler,
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.init = {
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.NVIC_IRQChannel = USART3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#ifdef PIOS_COM_AUX
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/*
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* AUX USART
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*/
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void PIOS_USART_aux_irq_handler(void);
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void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_aux_irq_handler")));
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const struct pios_usart_cfg pios_usart_aux_cfg = {
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.regs = USART1,
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.init = {
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.handler = PIOS_USART_aux_irq_handler,
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.init = {
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.NVIC_IRQChannel = USART1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.remap = GPIO_Remap_USART1,
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.rx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#endif
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/*
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* Board specific number of devices.
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*/
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struct pios_usart_dev pios_usart_devs[] = {
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#define PIOS_USART_TELEM 0
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{
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.cfg = &pios_usart_telem_cfg,
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},
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#define PIOS_USART_GPS 1
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{
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.cfg = &pios_usart_gps_cfg,
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},
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#ifdef PIOS_COM_AUX
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#define PIOS_USART_AUX 2
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{
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.cfg = &pios_usart_aux_cfg,
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},
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#endif
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};
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uint8_t pios_usart_num_devices = NELEMENTS(pios_usart_devs);
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void PIOS_USART_telem_irq_handler(void)
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{
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PIOS_USART_IRQ_Handler(PIOS_USART_TELEM);
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}
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void PIOS_USART_gps_irq_handler(void)
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{
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PIOS_USART_IRQ_Handler(PIOS_USART_GPS);
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}
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#ifdef PIOS_COM_AUX
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void PIOS_USART_aux_irq_handler(void)
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{
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PIOS_USART_IRQ_Handler(PIOS_USART_AUX);
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}
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#endif
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/*
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* COM devices
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*/
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/*
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* Board specific number of devices.
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*/
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extern const struct pios_com_driver pios_usart_com_driver;
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extern const struct pios_com_driver pios_usb_com_driver;
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struct pios_com_dev pios_com_devs[] = {
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{
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.id = PIOS_USART_TELEM,
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.driver = &pios_usart_com_driver,
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},
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{
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.id = PIOS_USART_GPS,
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.driver = &pios_usart_com_driver,
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},
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{
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.id = 0,
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.driver = &pios_usb_com_driver,
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},
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#ifdef PIOS_COM_AUX
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{
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.id = PIOS_USART_AUX,
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.driver = &pios_usart_com_driver,
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},
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#endif
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};
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const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
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